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优化自动调焦马达控制和界面

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tangchao0503
2026-07-22 16:12:44 +08:00
parent 6b63d28d2c
commit 64bc8a9d27
3 changed files with 261 additions and 58 deletions
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109
HPPA/FocusDialog.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>650</width>
<height>530</height>
<width>582</width>
<height>465</height>
</rect>
</property>
<property name="windowTitle">
@ -279,13 +279,28 @@ QRadioButton
<item row="0" column="1">
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>连接调焦模块</string>
<string>连接调焦线性平台</string>
</property>
<layout class="QGridLayout" name="gridLayout_7">
<item row="2" column="0" colspan="2">
<widget class="QPushButton" name="connectMotor_btn">
<item row="0" column="0">
<widget class="QRadioButton" name="is_new_version_radioButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>连接线性平台</string>
<string>新版</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>true</bool>
</property>
<property name="autoExclusive">
<bool>false</bool>
</property>
</widget>
</item>
@ -296,7 +311,7 @@ QRadioButton
</property>
<property name="sizeHint" stdset="0">
<size>
<width>107</width>
<width>40</width>
<height>20</height>
</size>
</property>
@ -359,22 +374,72 @@ QRadioButton
</widget>
</widget>
</item>
<item row="0" column="0">
<widget class="QRadioButton" name="is_new_version_radioButton">
<item row="2" column="0" colspan="2">
<widget class="QPushButton" name="connectMotor_btn">
<property name="text">
<string>新版</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>true</bool>
</property>
<property name="autoExclusive">
<bool>false</bool>
<string>连接</string>
</property>
</widget>
</item>
<item row="3" column="0">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="1">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>状态</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="motor_state_label">
<property name="maximumSize">
<size>
<width>8</width>
<height>8</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>8</width>
<height>8</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QLabel#motor_state_label
{
background-color: red;
border-radius: 4px;
}</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
@ -446,7 +511,7 @@ QRadioButton
</size>
</property>
<property name="text">
<string>10</string>
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@ -462,7 +527,7 @@ QRadioButton
</size>
</property>
<property name="text">
<string>10</string>
<string>1</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@ -518,7 +583,7 @@ QRadioButton
</size>
</property>
<property name="text">
<string>10</string>
<string>1</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>

197
HPPA/focusWindow.cpp
View File

@ -78,6 +78,40 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
m_dSpeed = 1.0;
}
void focusWindow::showMessageBox(QString msg, QString title)
{
QMessageBox msgBox(this);
msgBox.setWindowTitle(title);
msgBox.setText(msg);
msgBox.setStyleSheet(R"(
QMessageBox {
background-color: #0D1233;
}
QMessageBox QLabel {
color: #ACCDFF;
font-size: 14px;
}
QPushButton {
background-color: #142D7F;
color: #e6eeff;
border: 1px solid #2f6bff;
border-radius: 6px;
padding: 6px 20px;
min-width: 60px;
font-size: 13px;
}
QPushButton:hover {
border: 1px solid #4d8dff;
background-color: red;
}
QPushButton:pressed {
background-color: #23345c;
}
)");
msgBox.exec();
}
focusWindow::~focusWindow()
{
printf("destroy focusWindow-------------------------\n");
@ -163,33 +197,7 @@ void focusWindow::onConnectMotor()
{
if (ui.is_new_version_radioButton->isChecked())
{
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryOfExe();
QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
m_multiAxisController = new IrisMultiMotorController(configFilePath);
m_multiAxisController->moveToThread(&m_motorThread);
connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
connect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
connect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
connect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
connect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
m_motorThread.start();
//归零
//emit zeroStartSignal(0);
//自动调焦逻辑
m_coordinator = new MotionCaptureCoordinator(m_multiAxisController, m_Imager);
m_coordinator->moveToThread(&m_MotionCaptureCoordinatorThread);
connect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
connect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
connect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
connect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
m_MotionCaptureCoordinatorThread.start();
connectMotor(true);
}
else
{
@ -260,6 +268,131 @@ void focusWindow::onConnectMotor()
disableBeforeConnect(false);
}
void focusWindow::connectMotor(bool isNotification)//需要修改这个函数
{
if (getMotorsConnectionStatus())
{
if (isNotification)
{
showMessageBox(QString::fromLocal8Bit("马达已连接！"));
}
return;
}
if (m_multiAxisController)
{
disconnect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
disconnect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
disconnect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
disconnect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
disconnect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
m_motorThread.quit();
m_motorThread.wait();
m_multiAxisController->deleteLater();
}
if (m_coordinator)
{
disconnect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
disconnect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
disconnect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
disconnect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
m_MotionCaptureCoordinatorThread.quit();
m_MotionCaptureCoordinatorThread.wait();
m_coordinator->deleteLater();
}
try
{
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryOfExe();
QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
m_multiAxisController = new IrisMultiMotorController(configFilePath);
}
catch (std::exception const& e)
{
showMessageBox(QString::fromLocal8Bit("请连接马达！"));
return;
}
m_multiAxisController->moveToThread(&m_motorThread);
connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
connect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
connect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
connect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
connect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
m_motorThread.start();
emit testConnectivitySignal(0, 1000);
//归零
//emit zeroStartSignal(0);
//自动调焦逻辑
m_coordinator = new MotionCaptureCoordinator(m_multiAxisController, m_Imager);
m_coordinator->moveToThread(&m_MotionCaptureCoordinatorThread);
connect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
connect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
connect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
connect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
m_MotionCaptureCoordinatorThread.start();
}
void focusWindow::display_motors_connectivity(std::vector<int> connectivity)
{
//std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
if (connectivity[0])
{
m_xMotorConnectionStatus = true;
this->ui.motor_state_label->setStyleSheet(R"(
QLabel
{
background-color: #08FACE;
border-radius: 4px;
}
)");
}
else
{
m_xMotorConnectionStatus = false;
this->ui.motor_state_label->setStyleSheet(R"(
QLabel
{
background-color: red;
border-radius: 4px;
}
)");
}
if (getMotorsConnectionStatus())
{
this->ui.connectMotor_btn->setText(QString::fromLocal8Bit("已连接"));
}
else
{
this->ui.connectMotor_btn->setText(QString::fromLocal8Bit("重新连接"));
}
}
bool focusWindow::getMotorsConnectionStatus()
{
return m_xMotorConnectionStatus;
}
void focusWindow::display_x_loc(std::vector<double> loc)
{
double tmp = round(loc[0] * 100) / 100;
@ -517,20 +650,16 @@ void focusWindow::moveAfterAutoFocus(int motorID, double location)
std::cout << "\n已经到达位置：" << location << std::endl;
double tmp = abs(location - m_goodPos) / m_goodPos * 100;
if (tmp < 5)
if (tmp < 5 || m_goodPos == 0)
{
m_isMoveAfterAutoFocus = false;
if (!m_isAutoFocusSuccess)
{
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
msgBox.exec();
showMessageBox(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
}
else
{
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("自动调焦成功！"));
msgBox.exec();
showMessageBox(QString::fromLocal8Bit("自动调焦成功！"));
}
}
else

13
HPPA/focusWindow.h
View File

@ -18,6 +18,7 @@
#include <QtSerialPort/QSerialPortInfo>
#include <QDateTime>
#include <QMutex>
#include <QPointer>
#include "ui_FocusDialog.h"
#include "AbstractPortMiscDefines.h"
@ -123,11 +124,11 @@ private:
void disableBeforeConnect(bool disable);
QThread m_motorThread;
IrisMultiMotorController* m_multiAxisController;
QPointer<IrisMultiMotorController> m_multiAxisController;
double m_dSpeed;
QThread m_MotionCaptureCoordinatorThread;
MotionCaptureCoordinator* m_coordinator;
QPointer<MotionCaptureCoordinator> m_coordinator;
int m_iStepSize;
double m_goodPos;
@ -136,6 +137,11 @@ private:
void getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init);
void gaussian_fit(const std::vector<double>& x_data, const std::vector<double>& y_data, double& a, double& mu, double& sigma, double& c);
bool m_xMotorConnectionStatus = false;
bool getMotorsConnectionStatus();
void connectMotor(bool isNotification);
void showMessageBox(QString msg, QString title = QString::fromLocal8Bit("提示"));
public Q_SLOTS:
void onConnectMotor();
@ -158,6 +164,8 @@ public Q_SLOTS:
void onExit();
void display_motors_connectivity(std::vector<int> connectivity);
signals:
void StartManualFocusSignal(int);//1：开始调焦；0：停止调焦；
@ -166,6 +174,7 @@ signals:
void rmoveSignal(int, double, double, int);
void rangeMeasurementSignal(int, double, int);
void zeroStartSignal(int);
void testConnectivitySignal(int, int);
void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);
void closeSignal();